ANALYTICAL

LINKAGE SYNTHESIS
Analytical linkage
synthesis procedure is
algebraic. More suitable
for computerization.
Design a fourbar linkage
which will move a line on
its coupler link such that a
point P on that line will
move from P1 to P2 and
also will rotate the line
through an angle α2
between those positions.
W2+Z2-P21-Z1--W1 =0
we j (θ + β 2 ) + ze j (φ +α 2 ) − p21e jδ 2
− ze jφ − we jθ = 0 (1)
we jθ (e jβ 2
− 1) (2)
( )
ze jφ e jα 2 − 1 = p12 e jδ 2
Eq. (2) can be written in
the Cartesian form and its
real and imaginary parts
separated.
 Real [ w cos θ](cosβ 2 − 1) − [ w sin θ] sin β 2 +
(Eq3) [ z cos φ](cos α 2
− 1) − [ z sin φ] sin α 2 = p12 cos δ 2
Imaginary [ w sin θ](cosβ 2 − 1) − [ w cos θ] sin β 2 +
(Eq. 4) [ z sin φ](cos α 2
− 1) − [ z cos φ] sin α 2 = p12 sin δ 2
There are five unknowns in two equations, w , θ, β 2 , z, φ
But with two equations we can solve for two unknowns.
So we are forced to assume or choose three and solve for two.
Let us choose θ, β 2 , φ and solve for w and z.
For the ease of solution let us write the Eqs. In simpler form.
A = cos θ(cosβ 2 − 1) − sin θ sin β 2
B = cos φ(cos α 2 − 1) − sin φ sin α 2
C = p12 cos δ 2
D = sin θ(cosβ 2 − 1) + cos θ sin β 2
E = sin φ( cos α 2 − 1) + cos φ sin α 2
F = p12 sin δ 2
Now Eqs. take the form
Solve this,
Aw + Bz = C get w, z
Dw + Ez = F
CE − BF AF − CD
Solution w= and z=
AE − BD AE − BD
Alternative Choose β 2 , φ, z and solve for
W1 and W1 (or indirectly w and θ)
x y
Let W1 = w cos θ ; W1 = w sin θ
x y
Z1 = z cos φ ; Z1 = z sin φ
x y
Substituting these values in Eq. 3 and Eq. 4 we get:
W1 (cosβ 2 − 1) − W1 sin β 2 +
x y
Eq. 5
Z1 (cos α 2 − 1) − Z1 sin α 2 = p12 cos δ 2
x y
W (cosβ − 1) + W sin β +
1y 2 1x 2
Eq. 6
Z1 (cos α 2 − 1) + Z1 sin α 2 = p12 sin δ 2
y x
Let A = cosβ 2 − 1; B = sin β 2 ; C = cos α 2 − 1
D = sin α 2 ; E = p12 cos δ 2 ; F = p12 sin δ 2
Substituting the above in Eqs. 5 & 6.
AW1 − BW1 + CZ1 − DZ1 = E
x y x y
Equations to be
AW1 + BW1 + CZ1 − DZ1 = F
y x y x
solved
The solution
W1 =
(
A − CZ1 + DZ1 + E + B − CZ1 − DZ1 + F
x y
) ( y x
)
x
− 2A
W =
(
A − CZ1 − DZ1 + F + B − CZ1 − DZ1 − E
y x
) ( x y
)
1y
− 2A
Similarly, starting with the vector equation:
U2+S2-P21-S1-U1 =0
The following solution may beobtained
(1) Choosing σ , ψ , γ 2 and solving for u and s.
CE − BF AF − CD
u= and s =
AE − BD AE − BD
Where
A = cos σ(cos γ 2 − 1) − sin σ sin γ 2
B = cos ψ ( cos α 2 − 1) − sin ψ sin α 2
C = p12 cos δ 2
D = sin σ(cos γ 2 − 1) + cos σ sin γ 2
E = sin ψ (cos α 2 − 1) + cos ψ sin α 2
F = p12 sin δ 2
(2) Alternative, Choose:
s, ψ , γ 2 and solve for U1 and U1
x y
or indirectly for u and σ.
U1 =
( x y
) (
A − CS1 + DS1 + E + B − CS1 − DS1 + F
y x
)
x
− 2A
U1 =
( y x
) (
A − CS1 − DS1 + F + B − CS1 − DS1 − E
x y
)
y
− 2A
 Where A = cos γ 2 − 1; B = sin γ 2 ; C = cos α 2 − 1
D = sin α 2 ; E = p12 cos δ 2 ; F = p12 sin δ 2
COMPARISON OF ANALYTICAL AND GRAPHICAL
TWO-POSITION ANALYSIS
In this problem already solved
graphically, we did choose
positions A & B (previous C &
D). This is equivalent to
choosing z and φ. Selecting O2
is equivalent to choosing “w”.
The remaining unknowns β2
and θ, were solved for
graphically.
Ex. 5-1 Design a linkage to move from A1B1P1 to A2B2P2
Analytical Solution
1. Draw A1B1P1 and A2B2P2 to scale.
2. Measure or calculate P12 , δ2 and α2.
3. Assume values: z = 1.298, φ=26.5 deg. and β2=38.4 deg.
Which are consistent with the graphical soln.
4. Substitute these values in the solution Eqs. and obtain the
results: w=2.467 and θ=71.6 deg.
5. Compare with the graphical results w=2.48 and θ=71 deg.
6. The procedure may be repeated for the other side, u and σ.
7. Line A1B1 and O2O4 can be obtained from the vector loop
equations.
VELOCITY ANALYSIS
Once the position analysis is done we need to determine the
velocities. We need to know the velocities to calculate the
acceleration which are needed to calculate the dynamic forces.
Link in pure rotation
R PA = pe jθ
VPA = VP ( A is stationary )
d( pe jθ )
=
dt
dθ
= pje jθ = jR PA ω
dt
 Link in rotation and translation (2nd yr. Dynamics)
VP = VA + VPA
GRAPHICAL VELOCITY ANALYSIS
Given θ2 , θ3 , θ4 ω2
find ω3 , ω4 ,VA, VB,
VC .
Soln:
1. Start with VA
because information is
known.
VA =j(O2A) ω2 (j indicates its direction, perpendicular to O2A)
2. Next find out the velocity VB . VB= VA+ VB/A . VA is known,
the direction of VB/A is perpendicular to AB and the direction
of VB is perpendicular to O4B. Draw the vector diagram and
find out VB.
2. Next find out the velocity VB . VB= VA+ VBA . VA is known,
the direction of VBA is perpendicular to AB and the direction
of VB is perpendicular to O4B. Draw the vector diagram and
find out VB.
3. Find ω4=VB/BO4 and ω3=VBA/BA
4. Find VC= VA+ VCA . Here VA is known VCA=CAω3 .and is
perpendicular to CA. Draw the vector diagram and find out
VC.
INSTANT CENTRE OF VELOCITY: Is a point common to
two bodies in plane motion, which point has the same
instantaneous velocity in each body.
Kennedy’s rule: Three bodies in plane motion will have three
instantaneous centers and they will lie on the same straight
line.
Ex. 6-2 Find all instant centers for a fourbar
Four are
shown in the
figure. Other
two are I13 &
I24
Other two are I13 & I24 , can be obtained
by joining the points 13 and 24 in the
circle shown.
Following Kennedy’s rule, I13
should lie on the line joining
I34 & I14 and also on the line
joining I23 & I12. Hence I13 is
given by the intersection of
I34 & I14 extended and I23 &
I12 extended.
Similarly I24 can be found.
 Instant Centers for a slider crank
The four instant centers on the right hand side figure is easily
detectable. For the slider-Crank on the left hand side, let us
think of an effective link 4 which is infinitely long. Then the
slider will be able to move in a horizontal line(arc with infinite
radius)
Ex. 6-3. Find all instant centers of the slider crank below.
The Four instant
centers are shown in
the figure. Other two
are I13 & I24
I13 is given by the
intersection of I34 &
I14 extended and I23 &
I12 extended. Similarly
I24 can be found.
 I13 is given by the intersection of I34 & I14 extended and
I23 & I12 extended. Similarly I24 can be found. Here I14
& I24 extended is parallel to I34 & I14 extended.
Velocity analysis with instant centers
If we know VA, we can find
out ω3 from:
ω3=VA/(AI13)
Now we can calculate VB
from: VB=(BI13) ω3
Now calculate:
ω4=VB/(BO4) and velocity
of any point C: VC=(CI13)ω3
Rapid Graphical solution of velocity: Arcs centered at I13 are
swung from B and C. Magnitudes of velocities VA′ & VB′ are
measured and the vectors are slid along the track back to B
and C.
 Angular Velocity ratio with instant centers
Angular velocity ratio:
ω OI
mV = 4 = 2 24
ω 2 O 4 I 24
ω O A sin ν
mV = 4 = 2
ω 2 O 4 B sin µ
ANALYTICAL SOLUTIONS FOR VELOCITY ANALYSIS
R2+R3-R4-R1=0
The Polar form:
ae jθ + be jθ −
2 3
ce jθ − de jθ = 0
4 1
Differentiating above equation we get the equation for velocity
dθ2 dθ3 dθ 4
jae jθ
2
+ jbe jθ 3
− jce jθ4
=0
dt dt dt
jae jθ ω 2 + jbe jθ ω 3 − jce jθ ω 4 = 0
2 3 4
Eq. 7
V2 + V3 − V4 = 0
 The Cartesian form of Eq. 7 is:
jaω 2 (cos θ 2 + j sin θ 2 ) + jbω 3 (cos θ 3 + j sin θ 3 )
− jcω 4 (cos θ 4 + j sin θ 4 ) = 0
Multiplying with “j” and separating the x and y components
− aω 2 sin θ 2 − bω 3 sin θ 3 + cω 4 sin θ 4 = 0 x-comp
aω 2 cos θ 2 + bω 3 cos θ 3 − cω 4 cos θ 4 = 0 y-comp
Solving for ω3 and ω4 we get: aω 2 sin(θ 4 − θ 2 )
ω3 =
b sin(θ 3 − θ 4 )
aω 2 sin(θ 2 − θ 3 )
ω4 =
c sin(θ 3 − θ 4 )
R2-R3-R4-R1=0
The Polar form:
ae jθ − be jθ −
2 3
ce jθ − de jθ = 0
4 1
Differentiating above equation we get the equation for velocity
dθ dθ d (d )
jae jθ 2 2 − jbe jθ3 3 − =0 Eq. 8
dt dt dt
jae jθ 2 ω2 − jbe jθ3 ω3 − d& = 0
VB = VA + VBA
 The Cartesian form of Eq. 8 is:
jaω 2 (cos θ 2 + j sin θ 2 ) − jbω 3 (cos θ 3 + j sin θ 3 ) − d& = 0
Multiplying with “j” and separating the x and y components
− aω2 sin θ 2 + bω3 sin θ 3 − d& = 0 x-comp
aω2 cos θ 2 − bω3 cos θ 3 = 0 y-comp
Solving for ω3 and d& we get:
a cos θ 2
ω3 = ω 2
b cos θ 3
d& = − aω 2 sin θ 2 + bω 3 sin θ 3
Velocity of any point on a linkage
Once the
position vectors
of all the points
are found, it is
straightforward
to calculate the
velocity of any
point.
R =R +R
P A PA = ae jθ + pe j ( θ +δ
2 3 3)
v P = jae jθ ω 2 + jpe j ( θ +δ ) ω 3
2 3 3
v P = aω 2 ( j cos θ 2 − sin θ 2 ) +
pω 3 [ j cos(θ 3 + δ 3 ) − sin(θ 3 + δ 3 )]
 ACCELERATION ANALYSIS
Once the velocities are determined, we need to know the
accelerations. Accelerations are needed to calculate the
dynamic forces.
Link in pure rotation
R PA = pe jθ
dθ
VPA = pje jθ
dt
2
d ( VPA ) jθ dθ dθ jθ d θ
= − pe + pje
dt dt dt dt 2
= pje jθ α − pe jθ ω 2
t n
= A PA + A PA
Link in rotation and translation (2nd yr. Dynamics)
AP= (AA+APA)=(AnA+AtA)+(AnPA+AtPA)
 GRAPHICAL ACCELERATION ANALYSIS
Given θ2 , θ3 , θ4 , ω2
ω3 , ω4 and α2
find α3 , α4 , AA, AB,
AC .
Soln: 1. Start with AA
because information is
known.
AA = AnA+AtA=(O2A) ω22+ (O2A)α2 . Draw the vectors with
the direction of: AtA given by α2 and AnA opposite of RA
2. Next find AB= AA +ABA
AB= (AnB+AtB)=(AnA+AtA)+(AnBA+AtBA)
AB=(AnB+AtB)=(AnA+AtA)+(AnBA+AtBA)
Here AnA and AtA are known in magnitude & direction.
Magnitude & direction of AnB are known and direction of AtB
is known. Magnitude & direction of AnBA are known and
direction of AtBA is known. Now the acceleration polygon can
be drawn and the magnitude & direction of AB can be obtained
ANALYTICAL SOLUTION-ACCELERATION ANALYSIS
R2+R3-R4-R1=0
The Polar form:
ae jθ + be jθ −
2 3
ce jθ − de jθ = 0
4 1
Differentiating once we get the velocity equation.
jae jθ ω 2 + jbe jθ ω 3 − jce jθ ω 4 = 0
2 3 4
( aα 2 je jθ − aω 2 2 e jθ ) + ( bα 3 je jθ − bω 2 3 e jθ )
2 2 3 3
− ( cα 4 je jθ − cω 2 4 e jθ ) = 0 2nd differentation gives
4 4
acceleration Eq.
Convert the acceleration equation to its Cartesian form.
Separate the real and imaginary part. Solve for α3 , α4 , AA,
AB, AC .
CD − AF CE − BF
α = 3 and α =4
AE − BD AE − BD
A = c sin θ 4 ; B = b sin θ 3
C = aα 2 sin θ 2 + aω22 cos θ 2 + bω32 sin θ 3 − cω42 cos θ 4
D = c cos θ 4 ; E = cos θ 3
F = aα 2 cos θ 2 − aω22 sin θ 2 − bω32 sin θ 3 + cω42 sin θ 4
AA = aα 2 (− sin θ 2 + j cos θ 2 ) − aω22 (cos θ 2 + j sin θ 2 )
ABA = bα 3 (− sin θ 3 + j cos θ 3 ) − bω32 (cos θ 3 + j sin θ 3 )
AB = cα 4 (− sin θ 4 + j cos θ 4 ) − cω42 (cos θ 4 + j sin θ 4 )
 R2-R3-R4-R1=0
The Polar form:
ae jθ − be jθ −
2 3
ce jθ − de jθ = 0
4 1
Differentiating above equation we get the equation for velocity
jae jθ ω 2 + jbe jθ ω 3 − d& = 0
2 3
Differentiate again, rearrange and then solve for α 3 & d &&
α 3 = ( aα 2 cos θ 2 − aω 2 2 sin θ 2 + bω 2 3 sin θ 3 ) / b cos θ 3
d&& = − aα 2 sin θ 2 − aω 2 2 cos θ 2 + bα 2 3 sin θ 3 + bω 2 3 cos θ 3
Acceleration of
any point
Once the
velocities of all
the points are
found, it is
straightforward
to calculate the
acceleration of
any point.
R P = R A + R PA = ae jθ + pe j ( θ +δ ) ; v P = jae jθ ω 2 + jpe j ( θ +δ ) ω 3
2 3 3 2 3 3
A P = aα 2 ( − sin θ 2 + j cos θ 2 ) − aω 22 (cos θ 2 + j sin θ 2 ) +
pα 3 [ − sin(θ 3 + δ 3 ) + j cos(θ 3 + δ 3 )] −
pω 2 3 [cos(θ 3 + δ 3 ) + j sin(θ 3 + δ 3 )]